/// <summary>
/// 提取浮点解星间单差
/// </summary>
/// <param name="result"></param>
/// <param name="wideNarrowValues"></param>
private void SetPppFloatAmbiguityLen(PppResult result, SatWideNarrowValueManager wideNarrowValues)
{
var floatAmbLen = new Dictionary <SatelliteNumber, double>(); //存储星间单差无电离层浮点模糊度,略过参考星,单位：米
var baseFloatAmbi = result.GetAmbiguityDistance(CurrentBasePrn);
foreach (var prn in result.EnabledPrns)
{
if (prn == CurrentBasePrn)
{
continue;
}
var floatAmbi = result.GetAmbiguityDistance(prn); //浮点解，单位：米，是否应该需要周？ no need
var differ = floatAmbi - baseFloatAmbi;
wideNarrowValues.GetOrCreate(prn).FloatAmbiguityLength = differ;
}
}
/// <summary>
/// 滤波计算
/// </summary>
/// <param name="epochInfo"></param>
/// <param name="lastResult"></param>
/// <returns></returns>
public override SingleSiteGnssResult CaculateKalmanFilter(EpochInformation epochInfo, SingleSiteGnssResult lastResult)
{
//极速模式。
if (Option.TopSpeedModel)
{
return(base.CaculateKalmanFilter(epochInfo, lastResult));
}
epochInfo.RemoveIonoFreeUnavailable();
if (epochInfo.Count < 2)
{
log.Error("卫星可用数量不足：" + epochInfo.Count);
return(null);
}
var result = base.CaculateKalmanFilter(epochInfo, lastResult) as PppResult;
//外部模糊度文件直接固定
if (Option.IsFixingAmbiguity && Option.IsUseFixedParamDirectly && File.Exists(Option.AmbiguityFilePath) && Option.IsUsingAmbiguityFile)
{
return(result);
}
//var testBasePrn = new SatelliteNumber(12, SatelliteType.G);
//平滑MW
if (Option.IsFixingAmbiguity)
{
SmoothMwProvider.Add(epochInfo);
}
if (this.IsFixingAmbiguity
//&& epochInfo.Contains(testBasePrn)
&& epochInfo.ReceiverTime.DateTime.TimeOfDay > TimeSpan.FromHours(2)
)
{
//this.CurrentBasePrn = testBasePrn;
var time = epochInfo.ReceiverTime;
var SD_MW = SmoothMwProvider.GetDifferMwValue(CurrentBasePrn); //周为单位
if (SD_MW.Count < 2) //MW精度不足
{
return(result);
}
var wmFcb = WideLaneBiasService.Get(time).GetMwDiffer(CurrentBasePrn); //用于模糊度固定，精度要求不高，一次任务获取一次即可
SatWideNarrowValueManager wideNarrowValues = new SatWideNarrowValueManager(); //存储用于模糊度固定的宽窄项及对应的浮点产品
//基本参数定义
double maxMwRms = 0.3; //MW 至少的平滑精度
double maxDevOfInt = 0.2; //MW 取整时允许最大的偏差
var f1 = Frequence.GetFrequenceA(CurrentBasePrn, time).Value; // 1575.42;
var f2 = Frequence.GetFrequenceB(CurrentBasePrn, time).Value; // 1227.60;
var wideWaveLen = Frequence.GetMwFrequence(CurrentBasePrn, time).WaveLength;
var narrowWaveLen = Frequence.GetNarrowLaneFrequence(CurrentBasePrn, time).WaveLength;
#region 对MW值（宽巷模糊度）进行固定
foreach (var item in SD_MW)
{
//简单的质量控制
if (item.Value.Rms > maxMwRms && !Double.IsNaN(item.Value.Rms))
{
continue;
}
var f = wmFcb[item.Key]; //已经归算为和WM的定义相同，在[0-1]区间，满足 B=N+f, N=B-f.
if (f == double.NaN)
{
continue;
}
var B = item.Value.Value;
var nearN = B - f;
var N = (int)Math.Round(nearN); //直接进行取整数
if (Math.Abs(nearN - N) <= maxDevOfInt) //fixedSD_MW=0代表无效
{
wideNarrowValues.GetOrCreate(item.Key).WideLane = new IntFractionNumber(f, N); //改正后的 WLFCB
}
}
#endregion
//提取浮点解星间单差
SetPppFloatAmbiguityLen(result, wideNarrowValues);
#region 固定窄巷模糊度 //星间单差，窄巷模糊度
var tempCoeef = f2 / (f1 + f2); //算法1
var tempCoeef2 = (f1 + f2) * 1e6 / GnssConst.LIGHT_SPEED; //算法2：单位转换,窄巷波长的倒数
var tempCoeef3 = f2 / (f1 - f2); //算法2
foreach (var kv in wideNarrowValues.Data)
{
// var nFcb = SDNL_FCB[kv];//获取窄巷的产品
var prn = kv.Key;
var satData = kv.Value;
var f = NarrawLaneFcbService.GetBsdOfNarrowLane(prn, CurrentBasePrn, time); //获取窄巷的产品f, 符合B=N+f
if (!RmsedNumeral.IsValid(f))
{
continue;
}
var wideInt = satData.WideLane.Int;//只需要整数部分，小数部分化为窄巷小数部分，不影响整体
var floatPppAmbiLen = satData.FloatAmbiguityLength;
var B = (floatPppAmbiLen - tempCoeef * wideWaveLen * wideInt) / narrowWaveLen;//算法1
#region 算法验证
var B2 = tempCoeef2 * floatPppAmbiLen - tempCoeef3 * wideInt; //算法2
var differ = B - B2;
if (differ > 0.0001)
{
int ii = 0;
throw new Exception("Error!");
}
#endregion
var nearN = B - f;
var N = (int)Math.Round(nearN.Value); //直接进行取整数
if (Math.Abs(nearN.Value - N) <= maxDevOfInt) //fixedSD_MW=0代表无效
{
satData.NarrowLane = new IntFractionNumber(f.Value, N); //改正后的 WLFCB
}
}
#endregion
//提取协方差，采用Lambda去相关后固定模糊度
#region LAMBDA固定窄巷模糊度
//提取已选择的模糊度协方差阵
//#region 星间单差窄巷模糊度协方差矩阵
//IMatrix B = new ArrayMatrix(this.Adjustment.ParamNames.Count - 6, this.Adjustment.ParamNames.Count - 5, 0.0); //将非差模糊度转换为星间单差模糊度的旋转矩阵
//int index = 0;//参考星的索引位置???,参考星不同，index不同
//for (int i = 5; i < this.Adjustment.ParamNames.Count; i++)
//{
// SatelliteNumber sat = SatelliteNumber.Parse(this.Adjustment.ParamNames[i].Substring(0, 3));
// if (sat == MaxPrn)
// {
// break;
// }
// else
// {
// index++;
// }
//}
//for (int i = 0; i < this.Adjustment.ParamNames.Count - 6; i++)
//{
// if (i < index)
// {
// B[i, index] = -1; B[i, i] = 1;
// }
// if (i >= index)
// {
// B[i, index] = -1; B[i, i + 1] = 1;
// }
//}
//IMatrix BT = B.Transposition;
//IMatrix covaAmb = new ArrayMatrix(this.Adjustment.ParamNames.Count - 5, this.Adjustment.ParamNames.Count - 5, 0); //非差模糊度的协方差矩阵
//for (int i = 0; i < this.Adjustment.ParamNames.Count - 5; i++)
//{
// for (int j = 0; j < this.Adjustment.ParamNames.Count - 5; j++)
// {
// covaAmb[i, j] = this.Adjustment.CovaOfEstimatedParam[i + 5, j + 5];
// }
//}
//IMatrix SD_covaAmb = B.Multiply(covaAmb).Multiply(BT); //星间单差模糊度的协方差矩阵
//IMatrix SDNL_covaAmb = new ArrayMatrix(this.Adjustment.ParamNames.Count - 6, this.Adjustment.ParamNames.Count - 6, 0.0); //星间单差窄巷模糊度的协方差矩阵
//for (int i = 0; i < this.Adjustment.ParamNames.Count - 6; i++)
//{
// for (int j = 0; j < this.Adjustment.ParamNames.Count - 6; j++)
// {
// SDNL_covaAmb[i, j] = SD_covaAmb[i, j] * (1575.42 + 1227.60) / (1575.42 * GnssConst.GPS_L1_WAVELENGTH);//系数
// }
//}
//#endregion
//#region 部分模糊度固定，先将可以固定的星间单差窄巷模糊度 及其 协方差矩阵挑出来
//List<string> old_ambpara = new List<string>();
//foreach (var item in SD_floatAmb.Keys)
//{
// old_ambpara.Add(item.ToString());//所有的模糊度（除了参考星）
//}
//List<string> new_ambpara = new List<string>();
//foreach (var item in SDNL_floatAmb.Keys)
//{
// new_ambpara.Add(item.ToString());//可以固定的模糊度（宽巷 < 0.25 && NLFCB != 0）
//}
//IMatrix newtrix = NamedMatrix.GetNewMatrix(new_ambpara, old_ambpara, SDNL_covaAmb.Array); //将可以固定的模糊度的协方差矩阵挑出来
//#endregion
#endregion
StringBuilder sb = new StringBuilder();
sb.Append("PPP模糊度固定，" + time + ", BasePrn : " + CurrentBasePrn + ", 其它：" + wideNarrowValues.Count + ", " + Geo.Utils.StringUtil.ToString(wideNarrowValues.Keys));
log.Info(sb.ToString());
//计算固定后的模糊度距离
//已经固定的模糊度
var fixedPppAmbi = new Dictionary <SatelliteNumber, double>();
foreach (var kv in wideNarrowValues.Data)
{
if (!kv.Value.IsValid)
{
continue;
}
var prn = kv.Key;
var satData = kv.Value;
var wideInt = satData.WideLane.Int; //宽巷模糊度仍然采用整数
var floatNarrowAmbi = satData.NarrowLane.Value; //浮点部分包括在窄巷硬件延迟中
var fixedAmbiLen = tempCoeef * wideWaveLen * wideInt + narrowWaveLen * floatNarrowAmbi;
satData.FixedAmbiguityLength = fixedAmbiLen;
//简单质量控制
if (satData.DifferOfAmbiguityLength < 0.5)
{
fixedPppAmbi[prn] = fixedAmbiLen;
}
}
#region 条件平差 模糊度固定
return(FixPppResult(result, fixedPppAmbi));
#endregion
}
return(result);
}
